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Related Manuals for Zimmer HRC-04 Series
Summary of Contents for Zimmer HRC-04 Series
- Page 1 INSTALLATION AND OPERATING INSTRUC- TIONS HRC-04 series Gripper, hybrid DDOC00269 THE KNOW-HOW FACTORY www.zimmer-group.com...
- Page 2 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series Parameter explanation (glossary) Parameter Explanation The gripper is controlled with the "ControlWord". ControlWord The "ControlWord" is bit-exclusive, which means that only one bit at a time can be active in the "Word." The value "ZERO" is also permitted.
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Page 3: Table Of Contents
“ActualPosition” parameter ................................23 „Cold boot“ ........................................23 Minimum travel path .......................................23 “Easy Startup” .........................................24 8.6.1 Program example: “Easy Startup” HRC-04 series ........................24 Starting gripping movement ..................................25 Program example: Repeated movement in the same direction ........................25 8.8.1 Program example: „Save recipe“ ..............................26 Program example: „Load recipe“... - Page 4 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 9. Gripping force charts ................................28 10. Troubleshooting .................................29 11. Maintenance ..................................31 12. Accessories/scope of delivery ............................31 13. Transportation/storage/preservation ..........................31 14. Decommissioning and disposal ............................31 15. RoHS declaration ................................32 16. REACH declaration ................................32 17.
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Page 5: Supporting Documents
3. The gripper may be used only in accordance with its proper use and technical data. Zimmer GmbH shall accept no liability for any damage caused by improper use. -
Page 6: Proper Use
The gripper can be used for outside gripping. Forces and torques INFORMATION: For information on forces and torques, please visit our website. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ... -
Page 7: Type Plate
INFORMATION: Please state the serial number in the event of damage or a complaint. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Criteria for use in collaborative applications The criteria listed below are the basis for the suitability of the gripper for use in collaborative applications: Ö... -
Page 8: Function
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 6. Function The gripper fingers of the parallel gripper are arranged parallel to each other on two opposing guide rails and can be moved relative to each other. The force of the motor is transmitted over a worm drive. A pinion and a rack generate the movement of the gripper jaws and synchronize these movements. -
Page 9: Electrical Specifications
For information on electrical specifications, please visit our website. This data varies within the series, depending on the specific design. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Zimmer GmbH Im Salmenkopf 5 ... -
Page 10: Led Display
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series LED display 6.2.1 „IO-Link“ LED display The colors of the LED ring reflect the status of the gripper. The LED ring enables a 360° status display. Status Function On continuously "TeachPosition"... -
Page 11: Verified Configuration
Verified configuration INFORMATION: For information about the verified configuration, please visit our website. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Protection classes NOTICE: The gripper achieves protection class IP40 in all mounted positions of installation. -
Page 12: Installation
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 7. Installation Safety notes NOTICE: Switch off the energy supply for the electronics before any assembly, installation or maintenance work. ► Electronics may get damaged. CAUTION: Switch off the energy supply for the electronics before any assembly, installation or maintenance work. -
Page 13: Installing The "Io-Link
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 7.2.2 Installing the “IO-Link“ HRC-04-072809 HRC-04-072810 The gripper and the robot are connected to each other via an adapter flange. The gripper must be installed on a mounting surface in accordance with the flatness specifications. -
Page 14: Installing The „Io-Link" With Adapter Plate
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 7.2.3 Installing the „IO-Link“ with adapter plate HRC-04-080644 The gripper and the robot are connected to each other via an adapter plate. The gripper must be installed on a mounting surface in accor- dance with the flatness specifications. -
Page 15: Installing The Electrical System
Ö You can find the corresponding supply cable on our website. INFORMATION: The cables that are used by Zimmer GmbH feature a minimum bending radius of 10 x the outer diameter. This bending radius must not be undershot! ► All IO-Link cables that are installed in the grippers have an outer diameter of 5 mm and thus have a bending radius of 50 mm. -
Page 16: Installing The Pneumatic System
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 7.3.2 Installing the pneumatic system ► Connect the power supply line to the gripper and the safety valve. CAUTION: The operating pressure must not exceed the specified value! You can find the operating pressure in the technical data sheet on our website. -
Page 17: Installing Accessories
Before installing an accessory, make sure it is suitable for use with the selected variant. For information on all available accessories, please visit our website. Zimmer Customer Service is available to provide you with assistance if you have any further questions. 8. Commissioning Commissioning the IO-Link 8.1.1... -
Page 18: Iodd Import
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 8.1.2 IODD import ► Importing the IODD (device description) into the control system. Ö Call up our website at Ö www.zimmer-group.com Ö Select the desired gripper and download the corresponding .zip file via the „Download IODD“ link. -
Page 19: Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series Parameter 8.3.1 „ControlWord“ parameter NOTICE: In the „ControlWord“ parameter, only one single bit or the value 0 may be set at a time. Only the values listed in the following table are valid:... -
Page 20: Devicemode" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series Bit 7: „Adjust“ ► If no other bit is set in the control word, the „AdjustBit“ can be used to execute a readjustment of the end positions of the jaw. -
Page 21: Positiontolerance" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 8.3.4 „PositionTolerance“ parameter This parameter is used to configure the position tolerance with a resolution of 0.01 mm. Thus the value range of 0 to 255 can be used to set a maximum tolerance of 2,55 mm in both directions. -
Page 22: Statusword" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 8.3.6 „StatusWord“ parameter Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 "Control- "Control- "DataTrans- “Undefined- "WorkPosi- "TeachPosi- "BasePosi- Byte 1 "Error" Word"... -
Page 23: Diagnosis" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 8.3.7 „Diagnosis“ parameter The value returned in the „Diagnosis“ parameter corresponds to the error code. Ö Refer to the “Error diagnosis” section Name "Diagnosis" Data format UINT16 Permission Read Transfer... -
Page 24: Easy Startup
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series “Easy Startup” Ö From switching on the gripper to the initial movement. The gripper is to be connected in accordance with its assignment plan. The gripper reports the „StatusWord“, „Diagnosis“ and „ActualPosition“ process data immediately after the inter- nal controller is booted up. -
Page 25: Starting Gripping Movement
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series Starting gripping movement The gripper receives the move command by the “ControlWord” = 0x0100 or “ControlWord” = 0x0200 being sent. ► The movement order must be pending for as long as it takes until the desired position is reached. -
Page 26: Program Example: „Save Recipe
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 8.8.1 Program example: „Save recipe“ A schematic program example for saving a new recipe is shown in the following (*Store tool workpiece recipes in Structured Text (ST)*) IF bSave = TRUE THEN iStep := 10;... -
Page 27: Program Example: „Load Recipe
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series Program example: „Load recipe“ For loading a new recipe, a schematic program example is shown in the following. (*Load workpiece recipes in Structured Text (ST)*) IF bLoad = TRUE THEN iStep := 10;... -
Page 28: Gripping Force Charts
9. Gripping force charts INFORMATION: For information on the gripping force charts, please visit our website. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ... -
Page 29: Troubleshooting
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 10. Troubleshooting Error code Error Possible cause Measure No error • Actuator power supply not connected Actuator power supply is not pre- ► Check the actuator power 0x100 • Cable break sent or too low. - Page 30 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series Error code Error Possible cause Measure ► Confirm the newly transferred • Process data sent by the master 0x309 “TeachPosition” not transferred process data with a "Handsha- has been changed ke"...
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Page 31: Maintenance
Dismantling and reassembling the gripper without authorization may result in complications, as special installation equipment is required in some cases. Zimmer GmbH shall not be liable in the event of unauthorized dismantling and reassembling of the gripper or in the event of any malfunction or damage resulting from this. -
Page 32: Rohs Declaration
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 15. RoHS declaration In terms of the EU Directive 2011/65/EU Name and address of the manufacturer: Zimmer GmbH 77866 Rheinau, Im Salmenkopf 5 +49 7844 9138 0 +49 7844 9138 80 ... -
Page 33: Declaration Of Incorporation
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 17. Declaration of Incorporation In terms of the EU Machinery Directive 2006/42/EC (Annex II 1 B) Name and address of the manufacturer: Zimmer GmbH 77866 Rheinau, Im Salmenkopf 5 +49 7844 9138 0 ... -
Page 34: Declaration Of Conformity
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series 18. Declaration of Conformity In terms of the EC Directive 2014/30/EC on electromagnetic compatibility Name and address of the manufacturer: Zimmer GmbH 77866 Rheinau, Im Salmenkopf 5 +49 7844 9138 0 ... - Page 35 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ● ● ● ● ●...
- Page 36 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ● ● ● ● ●...
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